When buying a house for sale by owner, do both parties need separate real estate lawyers?

Who's living in the house is irrelevant. How is title to the property held? That's what matters.

You say you each "own a third." Does that mean you hold title as joint tenants or as tenants in common? Do you know the difference?

Sounds like you should be getting qualified legal advice.

If you own it equally, you have equal rights of access (unless you have any agreements in writing with your brothers to state otherwise).

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